CN109905058A - Motor control method - Google Patents
Motor control method Download PDFInfo
- Publication number
- CN109905058A CN109905058A CN201810883856.6A CN201810883856A CN109905058A CN 109905058 A CN109905058 A CN 109905058A CN 201810883856 A CN201810883856 A CN 201810883856A CN 109905058 A CN109905058 A CN 109905058A
- Authority
- CN
- China
- Prior art keywords
- rotor
- hall sensor
- motor
- time point
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000001360 synchronised effect Effects 0.000 claims description 16
- 230000005611 electricity Effects 0.000 claims description 12
- 230000014509 gene expression Effects 0.000 claims description 12
- 230000033228 biological regulation Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 claims description 2
- 230000000630 rising effect Effects 0.000 description 22
- 239000000470 constituent Substances 0.000 description 17
- 230000000694 effects Effects 0.000 description 8
- 238000005259 measurement Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 239000000446 fuel Substances 0.000 description 4
- 239000000203 mixture Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention provides a kind of motor control method comprising: the step of ideal position of rotor is calculated based on Hall sensor signal；The step of current location of rotor is calculated based on the rotation speed of rotor；With the step of difference of the ideal position of rotor and the current location of rotor is calculated as Hall sensor angle of deviation.
Description
Technical field
The present invention relates to motor control methods, and the deflection of the Hall sensor of motor is mounted on more particularly to correction
Angle accurately controls the technology of the position and speed of rotor.
Background technique
In general, needing accurately to calculate the position of rotor to control 3 phase brushless motors of electric power steering.
The magneton that the stator of motor is formed using the circulating current in 3 phase coils, rotor use are alternatively formed the pole N and S
The permanent magnet of pole.In order to make motor continuous rotation, the continuous rotor system of motor is needed to form, in order to form continuous rotor system
System, needs in reasonable time point to rectify the electric current to circulate in each phase coil of armature, for rectification appropriate, need
Accurately identify the position of rotor.
Wherein, rectification refers to the current direction for changing motor stator coil in such a way that rotor can rotate.
For the trouble-free operation of this motor, need critically to make rotor-position consistent with the conversion time of phase current point,
Thus, it is desirable that for detecting the device of rotor-position, generally for detection rotor-position, utilize the variation current potential according to magnetic flux
CT (current transformer, Current Transformer) mutually is arranged in each of stator in the changed Hall sensor of difference.
In particular, for utilizing in the air blast component of the air delivery system of fuel cell using permanent magnet as the permanent magnetism of rotor
Body motor needs to sense the current location of rotor to control this permanent magnet motor, considers encapsulation and cost, utilizes size
Smaller and cheap Hall sensor senses the current location of rotor.Position sensor is pasted onto Hall sensor and is turned
Son and stator judge rotor-position, and due to the manufacturing deviation of paste position sensor, the rotor-position of Hall sensor is sensed
When there are angle of deviations.
In addition, according to during the use of motor, the problem of position of Hall sensor is deviateed occurs.This leads to rotor-position
There are errors for sensing, thus the precision decline for causing inverter current to control, to reduce inverter efficiency.Therefore, it is necessary to
The angle of deviation of Hall sensor is measured before current control and is corrected.
The item illustrated as above-mentioned background technique is only used for promoting the understanding to background of the present invention, and is not construed as holding
Recognize it and belongs to common knowledge well known by persons skilled in the art.
Existing technical literature
Patent document
(patent document 1) KR 10-1749522 B
(patent document 2) KR 10-2008-0097732 A
Summary of the invention
Technical problems to be solved by the inivention
The present invention proposes, and it is an object of the present invention to provide a kind of pair of Hall sensor each phase (U phase, V in order to solve this problem
Phase, W phase) up and down of signal compensate the motor control method of control along totally 6 angle of deviations are calculated.
For solving the technical solution of technical problem
Motor control method of the present invention for achieving the above object include: by Hall sensor signal come based on
The step of calculating the ideal position of rotor；The step of the current location of rotor is calculated based on the rotation speed of rotor
Suddenly；With the step for calculating the difference of the ideal position of rotor and the current location of rotor as Hall sensor angle of deviation
Suddenly.
It can further include the step for calculating the rotation speed of motor before the step of calculating the ideal position of rotor
Suddenly.
In the step of calculating the rotation speed of motor, the rotation speed that following mathematical expressions calculate motor can use.
THall_update=THall-THall_old
ωr: the electric rotation speed [rad/s] of motor, THall_update: when the value of Hall sensor changes required
Between, THall: the value of Hall sensor changed time point, THall_old: when the value of Hall sensor is changed before
Between point, N: the number of poles of motor
Can calculate motor rotation speed the step of after, further include judge motor rotation speed variable quantity whether
The step of less than stipulated standard variable quantity, calculates motor when the variable quantity of motor rotation speed is less than stipulated standard variable quantity
The ideal position of rotor and the current location of rotor.
It, can the signal changed time based on Hall sensor in the step of calculating the ideal position of rotor
It puts to calculate the ideal position of rotor.
In the step of calculating the ideal position of rotor, the ideal bit that following mathematical expressions calculate rotor can use
It sets.
θHall: the position angle [deg] of current Hall sensor, θEdge: the signal of the Hall sensor changed time
The ideal position angle of point, ωr: the electric rotation speed [rad/s] of motor, Δ T: changed from the signal of Hall sensor
Elapsed time at time point
It, can be with rotor from PWM duty cycle of switching operation before in the step of calculating the current location of rotor
When the angle of position rotation of rotor calculate.
In the step of calculating the current location of rotor, the present bit that following mathematical expressions calculate rotor can use
It sets.
θSpd: the position angle [deg] of rotor, θ when current PWM duty cycle of switching operationOld: PWM switch accounts for before
The position angle [deg] of rotor, ω when sky is than operationr: the electric rotation speed [rad/s] of motor, TPWM: PWM switch duty
Compare execution cycle
It can further include judging whether motor rotation speed is regulation base after the step of calculating the rotation speed of motor
Step more than quasi- rotation speed calculates the reason of rotor when motor rotation speed is stipulated standard rotation speed or more
Think the current location of position and rotor.
Calculate rotor ideal position and rotor current location the step of in, can be with Hall sensor
The signal intensity time point of U phase, W phase or V phase is benchmark time point, calculates the ideal position of rotor and working as rotor
Front position.
Calculate rotor ideal position and rotor current location the step of in, can be whenever as benchmark
When signal intensity time point of the Hall sensor at time point repeats, by the current of the ideal position of rotor and rotor
Position is synchronized to the ideal of the rotor using on the basis of the signal intensity time point of the Hall sensor as reference time point
Position.
In the step of being calculated as Hall sensor angle of deviation, it can calculate except the Hall sensor as reference time point
Signal intensity time point other than remaining Hall sensor signal intensity time point Hall sensor angle of deviation.
It can further include calculating as reference time point suddenly before the step of being calculated as Hall sensor angle of deviation
The step of Hall sensor angle of deviation at the signal intensity time point of your sensor, calculates the hall sensing as reference time point
In the step of Hall sensor angle of deviation at the signal intensity time point of device, block the electric current applied to motor come the inertia system of progress
Dynamic, synchronous coordinate system d shaft voltage and q shaft voltage when based on inertia braking are calculated.
It can further include based on the calculated Hall of compensation institute after the step of being calculated as Hall sensor angle of deviation
Sensor angle of deviation and calculated real electrical machinery rotor-position are come the step of controlling motor.
The effect of invention
Motor control method according to the present invention, electricity can accurately be calculated by calculating Hall sensor angle of deviation by having
The effect of the position of machine rotor.
Also, have the effect of to ensure the precision of motor control using the relatively low Hall sensor of cost.
Also, accurate control is carried out by the inverter that opposite motor supplies driving current, improves inversion effect to have
The effect of rate.
Detailed description of the invention
Fig. 1 is the composition figure of the electric machine control system of one embodiment of the invention.
Fig. 2 is the figure of the state for the angle of deviation that diagram produces motor Hall sensor.
Fig. 3 illustrates the flow chart of the motor control method of one embodiment of the invention.
Fig. 4 is the figure for illustrating the changed state of Hall sensor signal.
Fig. 5 A and Fig. 5 B are before and after illustrating the motor control method being related to using one embodiment of the invention to electricity
The figure of the waveform for 3 phase currents that machine applies.
Description of symbols
10: motor 20: Hall sensor
30: inverter 40: fuel cell controller (FCU)
50: circuit control device
Specific embodiment
For in the specific structure of the embodiment of the present invention disclosed in this specification or application or functional explanation,
It is intended to be merely illustrative of the present embodiment and illustrates, the embodiment of the present invention can be implemented by diversified mode, no
It should be interpreted that the embodiment being defined in illustrated in this specification or application.
Various modifications may be made and can have various forms for embodiment of the present invention, therefore by specific embodiment
Illustration is described in detail in the accompanying drawings and in this specification or application.However, this be not intended to will be general according to the present invention
The embodiment of thought is limited to specific open form, it should be understood that including institute included by thought and technical scope of the invention
Have altered, equivalent and substitute.
First and/or second etc. term is for illustrating various constituent elements, but above-mentioned constituent element is not by above-mentioned use
The restriction of language.About above-mentioned term, it is only used for differentiating a constituent element from other constituent elements, such as do not departing from root
Under conditions of interest field according to concept of the present invention, the first constituent element can be named as the second constituent element, similarly, second
Constituent element can also be named as the first constituent element.
When recording a certain constituent element with another constituent element " connection " or " connection ", it can be and another constituent element
It is directly connected to or links, it should be appreciated that there may be other constituent elements between.However, when recording a certain composition
When element and another constituent element " being directly connected to " or " directly connection ", it should be understood that between other constituent elements are not present.
Illustrate the relationship between constituent element other statement, i.e., "~between " and " immediately in~between " or " with~it is adjacent " and
" with~direct neighbor " etc. also should equally explain.
Term used in this specification is merely to illustrate specific embodiment, is not used to limit the present invention.The table of odd number
It states according to the context different meanings of unobvious expression, the statement including plural number.In this specification, " comprising " or " tool
Have " etc. terms should be understood to the feature, number, step, movement, constituent element, component or the their combination that refer to institute's facility
In the presence of, and be not exclude in advance one or more feature and number, step, movement, constituent element, component or it
Combined presence or additional possibility.
In the case where no contrary, all terms used herein including technology or scientific words, with
The normally understood meaning of those skilled in the art is identical.As used defined in the usually used dictionary
Language is construed that the meaning consistent with the meaning having when considering according to the context of the relevant technologies, does not have in this specification
In the case where explicitly defining, the meaning of ideal or excessive form should not be construed as.
In the following, preferred embodiments of the invention will now be described with reference to the accompanying drawings, the present invention is described in detail.Shown in each attached drawing
Same reference numeral out indicates same parts.
Motor of the invention is the internal motor with permanent magnet, can pass through the speed or torque of inverter control motor
Deng.Specifically, motor of the invention can be the electricity used in the air blast device to fuel cell system supply air
Machine.
It can be wrapped in permanent magnet motor in order to measure the position and speed of the internal rotor for being equipped with permanent magnet and rotating
Include Hall sensor.Expensive driving is the excellent rotary transformer sensor of precision to be able to use in motor, but be used for
Cheap Hall sensor is then installed in the motor of common pump, compressor or air blown producer.
The transformation period point of Hall sensor signal can have from 0 be changed to 1 rising edge and from 1 be changed to 0 decline
Edge.Digital signal reception portion for receiving this Hall sensor signal can produce at Hall sensor signal intensity time point
The raw interruption for the accurately notice CPU time point.CPU receives absolute time information (operation time) by clock.
In nearest high-performance micro computer (MCU), execute various logic operation CPU and signal processing part, when
Clock etc. can be physically integrally constituted.
In general, Hall sensor signal is by electrically with 120 degree of spaced apart U phases, V in common motor
Phase, 3 phases of W phase constitute, but according to circumstances can be single-phase, 2 phases, 4 equal miscellaneous compositions.
Fig. 1 is the composition figure for the electric machine control system that one embodiment of the invention is related to.
With reference to Fig. 1, in the electric machine control system that one embodiment of the invention is related to, motor is controlled by inverter (30)
(10), inverter (30) are controlled by circuit control device (50).
Circuit control device (50) receives speed command from the fuel cell controller (FCU, 40) as higher controller
And the instruction of 3 phase currents is assigned to inverter (30), inverter (30) instructs to motor (10) according to 3 phase currents and provides 3 phases electricity
Stream.
It is equipped on motor (10) Hall sensor (20), Hall sensor (20) measures the position and speed of rotor
Deng.Measured Hall sensor (20) signal can be used for the internal speed control (51) of circuit control device (50) into
Row feedback control.
Specifically, the current controller (52) of circuit control device (50) inside is received from speed control (51) and is synchronized
The current target value (Id*, Iq*) of coordinate system, to coordinate converter (53) convey synchronous coordinate system voltage-target (Vd*,
Vq*), the voltage-target of synchronous coordinate system can be scaled 3 phase voltage target values (a phase, b phase, c by coordinate converter (53)
Phase) and provided to inverter (30).Inverter (30) can be based on received 3 phase voltage target value (a phase, b phase, c phase), pass through
The PWM output duty cycle of 3 phase switch circuits provides the electric current of 3 phases to motor (10).
In particular, being provided in the case where surface mount type permanent magnet synchronous motor from inverter (30) to motor (10)
Driving current be 3 phase currents, this can be proportional to synchronous coordinate system q shaft current (Iq).Wherein, synchronous coordinate system d axis electricity
Stream (Id) can be 0 [A].
Can so that the measured value for the driving current that inverter (30) is supplied to motor (10) follows the mode of target value, by
Current controller (52) applies controlling value to inverter (30).Between inverter (30) and motor (10), measurement can be configured
The current sensor (not shown) of the driving current supplied from inverter (30) to motor (10).Sensor (not shown) can be surveyed
2 electric currents in the driving current of fixed 3 phases, then fed back through coordinate converter (53) to current controller (52).Electric current control
Device (52) processed can be so that the measured value (Id, Iq) of the driving current of actual measurement follows the electric current mesh inputted by speed control (51)
The mode of scale value (Id*, Iq*) carries out feedback control.
For sensing 2 in current sensor (not shown) usually 3 phase currents of sensing for be provided to 3 phase currents of motor (10)
The electric current of a phase, but according to circumstances also can be in 1 phase or 3 mutually all installations current sensor (not shown).
Fig. 2 is the figure of the state for the angle of deviation that diagram produces motor Hall sensor.
With reference to Fig. 2,3 phase Hall sensors can be installed in permanent magnet motor, ideal and accurately make permanent magnet
In the case where installation site of motor, Hall sensor and Hall sensor etc., the Hall sensor signals of 3 phases (U phase, V phase and
W phase) with the interval variation of 120 [deg] (degree), each Hall sensor signal from 0 be changed to 1 rising edge and from 1 be changed to 0
Failing edge can become 180 [deg] and be spaced.
However, permanent magnet itself is difficult to accurately form 180 [deg], and 3 phases are suddenly in the permanent magnet motor of actual fabrication
Interval between your sensor is also difficult to be assembled into 120 [deg].Therefore, Hall sensor signal also because production on error due to
Not with 180 [deg] interval variations.Therefore, as shown by the imaginary lines in the drawing, generating indicates ideal Hall sensor signal intensity
The Hall sensor angle of deviation of error between practical Hall sensor signal intensity.
Therefore, as shown, there are hall sensings for the respective rising edge of Hall sensor signal and failing edge of 3 phases
Device angle of deviation, therefore co-exist in 6 Hall sensor angle of deviations.
In order to find out each Hall sensor angle of deviation, when first can be by some ideal Hall sensor signal intensity
Between point be used as reference time point.Here, the rising edge of U phase Hall sensor signal is defined as 0 [deg], as fiducial time
Point.Thus, it is possible to such as W phase rising edge 60 [deg], V phase rising edge 120 [deg], U phase failing edge 180 [deg], W phase failing edge
240 [deg], V phase failing edge 300 [deg] are defined in this way with 60 degree of intervals.About reference time point, 6 Hall sensor signals
Any of variation can be used as reference time point.
The signal intensity time point of the U phase of Hall sensor, W phase or V phase can be calculated into electricity as reference time point
The ideal position of machine rotor and the current location of rotor.Therefore, illustrate below with the rising edge of U phase Hall sensor signal
It is benchmark time point the method that calculates remaining 5 Hall sensor angle of deviations.
Fig. 3 illustrates the flow chart for the motor control method that one embodiment of the invention is related to.
With reference to Fig. 3, in the 3 phase rising edges of Hall sensor U, V, W, the angle of deviation of failing edge, only by U phase Hall sensor
The angle of deviation calculation method of the failing edge of signal is shown in flow chart.If by the angle of deviation for remaining Hall sensor signal
Calculation is included in flow chart, then flow chart can become excessively complicated, thus omit.Remaining angle of deviation can also be led to
Same way calculating is crossed, the progress that can be calculated with the angle of deviation of U phase Hall sensor signal failing edge is calculated parallel.
The motor control method that one embodiment of the invention is related to includes: to calculate rotor based on Hall sensor signal
Ideal position the step of (S400)；The step of current location of rotor is calculated based on the rotation speed of rotor
(S500)；It is calculated with using the difference of the ideal position of rotor and the current location of rotor as Hall sensor angle of deviation
The step of (S600).
It can further include the rotation speed for calculating motor the step of calculating the ideal position of rotor before (S400)
The step of (S110).
It can use the rotation speed that following mathematical expressions calculate motor.
THall_update=THall-THall_old
ωr: the electric rotation speed [rad/s] of motor, THall_update: when the value of Hall sensor changes required
Between, THall: the value of Hall sensor changed time point, THall_old: when the value of Hall sensor is changed before
Between point
The rotation speed of real electrical machinery can become N times of the electric rotation speed of motor according to the number of poles of motor.
Fig. 4 is the figure for illustrating the changed state of Hall sensor signal.
With reference to Fig. 4, as shown, THall_updateCan be used as value changed time point of Hall sensor with before
Elapsed time calculates between the value of Hall sensor changed time point.
Wherein, about THall_updateAlthough U phase, V phase or W phase can use, using the U phase as reference time point
Calculating can be more acurrate.More specifically, be illustrated as from rising edge to the time between failing edge, still, measurement from rising edge to
Mode after time between next rising edge divided by 2 is thus more acurrate due to not influenced by Hall sensor angle of deviation.
It, can be based on the letter of Hall sensor in the step of calculating the ideal position of rotor (S400) referring again to Fig. 3
Number changed time point calculates the ideal position of rotor.Specifically, can use following mathematical expressions calculates electricity
The ideal position of machine rotor.
θHall: the position angle [deg] of current Hall sensor, θEdge: the signal of the Hall sensor changed time
The ideal position angle of point, ωr: the electric rotation speed [rad/s] of motor, Δ T: changed from the signal of Hall sensor
Elapsed time at time point
When using the rising edge of U phase as benchmark time point, θEdgeIt can be the position angle at remaining 5 signal intensity time points
Degree.
Since electric machine controller uses the switching frequency of number kHz to tens of kHz, need to hold within the time of 100us or so
The operation of relevant to the motor control complexity of row determines PWM duty cycle (duty), therefore computing load is very high.Then, by
In the limitation of the computing load of electric machine controller, it is impossible to which the signal for unlimitedly shortening Hall sensor confirms the period.
Circuit control device has 3 phase switch circuits for controlling the output of 3 phases, opens 6 in this 3 phase switch circuit
It closes and PWM duty cycle control is carried out with the frequency of several kHz to tens of kHz, thus implement the current control for controlling motor output.
In the upgrade cycle (T of each PWM duty cycle determined according to the switching frequency of 3 phase switch circuitsPWM), circuit control device is held
It is capable to determine that various operations needed for PWM duty cycle (calculate under motor position and speed, 3 phase current sensings, current control, determination
One 3 phase voltage output valves determine next PWM duty cycle etc.).
At this point, in order to include the accurate current control in the current controller of circuit control device, in each PWM duty
Than the period, need to know the position and speed information of accurate motor.It therefore, can be in each PWM duty cycle of switching operation week
Phase (TPWM) signal of Hall sensor is measured to calculate the position angle of rotor.That is, PWM duty cycle of switching execution cycle
(TPWM) can be identical as the position angle of the rotor measurement period.
It, can be with rotor from PWM switch duty before in the step of calculating the current location of rotor (S500)
The angle of the position rotation of rotor when than operation calculates the current location of rotor.Specifically, can use
Following mathematical expressions calculate the current location of rotor.
θSpd: the position angle [deg] of rotor, θ when current PWM duty cycle of switching operationOld: PWM switch accounts for before
The position angle [deg] of rotor, ω when sky is than operationr: the electric rotation speed [rad/s] of motor, TPWM: PWM switch duty
Compare execution cycle
It can further include the variation for judging motor rotation speed the step of calculating the rotation speed of motor after (S110)
The step of whether amount is less than stipulated standard variable quantity (S120) is less than stipulated standard variable quantity in the variable quantity of motor rotation speed
When, calculate the ideal position of rotor and the current location of rotor.It is if it is the variable quantity in motor rotation speed
In the case where more than stipulated standard variable quantity, then the time being measured (T1) and Hall sensor angle of deviation can be calculated secondary
Number (COUNT1) is reset to 0 (S130).
That is, when the variable quantity of motor rotation speed is less than benchmark variable quantity, it can be assumed that motor is driven with constant speed.Except this
Except, the variable quantity that can also add motor rotation speed is less than the item of the time maintenance certain time of benchmark variable quantity or more
Part.
The accuracy of the rotor-position calculated value based on speed used when this is because calculating Hall sensor angle of deviation
Rise in motor constant-speed forward driving.When only calculated speed is accurate, it can ensure that the rotor-position based on speed calculates
The accuracy of value, in acceleration-deceleration section, there are errors between the speed and actual speed of measurement, therefore precision is possible to drop
It is low, and the error between the speed and actual speed of constant speed interval measure is nearly close to 0.
Although it is not shown, in the motor control method of the invention that other embodiments are related to, it can be in the rotation for calculating motor
After the step of rotary speed (S110), include the steps that judging whether motor rotation speed is stipulated standard rotation speed or more
(not shown) calculates the ideal position and motor of rotor when motor rotation speed is stipulated standard rotation speed or more
The current location of rotor.
Instead of the step of being confirmed whether it is constant speed driving condition (S120), can confirmation motor rotation speed whether be
After more than stipulated standard rotation speed, the calculating of Hall sensor angle of deviation is executed in a manner of identical with constant velocity state.
About the reasons why being confirmed whether as benchmark rotation speed, be because under the low speed the variation of Hall sensor signal compared with
Slowly speed upgrading can not be carried out, thus the increased reason of the error between actual speed and calculating speed.Meet reference speed
When the above condition, under the conditions of variable velocity, it is also able to carry out the calculating of Hall sensor angle of deviation.If by calculating number repeatedly
Value export Hall sensor angle of deviation that is secondary and being averaged, then can reduce the error in the generation of the section of speed variable.
Calculate rotor ideal position and rotor current location the step of (S400, S500) in, can be with
The ideal position that the signal intensity time point of the U phase of Hall sensor, W phase or V phase is benchmark time point to calculate rotor
With the current location of rotor.That is, reference time point can be the U phase, W phase or the respective rising edge of V phase of Hall sensor
With one in totally 6 time points of failing edge.It is illustrated in this specification by benchmark time point of the rising edge of U phase.
In the step of being calculated as Hall sensor angle of deviation (S600), it can calculate except the Hall as reference time point
The Hall sensor angle of deviation at the remaining Hall sensor signal intensity time point other than the signal intensity time point of sensor.?
This typically illustrates the method for calculating the Hall sensor angle of deviation of the failing edge of U phase.V phase and the respective rising edge of W phase
It also can similarly be calculated with the Hall sensor angle excursion of failing edge.
Calculate rotor ideal position and rotor current location the step of (S400, S500) in, Ke Yi
Whenever repeating at the signal intensity time point of the Hall sensor as reference time point, by the ideal position and electricity of rotor
The current location of machine rotor is synchronized to the electricity using on the basis of the signal intensity time point of the Hall sensor as reference time point
The ideal position (S400', S500') of machine rotor.
When the rising edge of U phase is set as reference time point, can whenever U phase rising edge repeatedly when, be synchronized to
The ideal position for the rotor that the rising edge of U phase repeatedly is calculated as benchmark using following same mathematical formulas.
θHall: the position angle [deg] of current Hall sensor, θSpd: motor turns when current PWM duty cycle of switching operation
The position angle [deg] of son, ωr: Δ T: the electric rotation speed [rad/s] of motor changes from the signal of Hall sensor
Elapsed time at time point.
About θSpd, the rotation angle in operation time is calculated based on speed and is integrated come calculating position angle, therefore
Operation times more increase, then more increase due to the error of the position angle of velocity error.
Therefore, using rising edge (the ideal position base of rotor of the U phase Hall sensor signal as reference time point
It is quasi-) it is starting point, synchronous θHallAnd θSpdCalculated value, can eliminate with revolving speed increase and by the product of the positional value based on speed
Divide θ caused by errorSpdEach error.It can be when rotating each time, with the upper of the U phase Hall sensor signal of 0 [deg]
Rise along be starting point simultaneously implement initialization with it is synchronous.
In order to more improve accuracy, (S610) is counted to the calculation times of Hall sensor angle of deviation, judges institute
Whether the calculation times of counting are benchmark number or more (S620), when reaching benchmark number or more, can will measure and calculate
Multiple Hall sensor angle of deviations averagely calculate final Hall sensor angle of deviation (S630).
It can further include calculating as fiducial time the step of being calculated as Hall sensor angle of deviation before (S600)
The step of Hall sensor angle of deviation at the signal intensity time point of the Hall sensor of point (not shown), when calculating as benchmark
Between put signal intensity time point of Hall sensor Hall sensor angle of deviation the step of in, can block and be applied to motor
Electric current carry out inertia braking, the synchronous coordinate system d shaft voltage and q shaft voltage when based on inertia braking calculated.
Here, the Hall sensor angle of deviation of the U phase rising edge of the Hall sensor as reference time point can be calculated.
Firstly, whether inertia braking starts the meter of Hall sensor angle of deviation when judging that motor enters inertia braking to confirmation motor
It calculates.Specifically, can use the synchronous coordinate system d shaft voltage and q shaft voltage when following mathematical expressions calculate inertia braking, thus
Calculate Hall sensor angle of deviation.
In angle calculating step, it is assumed that id=0, iq=0 calculate angle excursion.
In the case where not generating Hall sensor angle of deviation, according to above-mentioned voltage equation, Vd, which becomes 0 and θ, also becomes 0.
Hall sensor angle of deviation can be used as to be calculated using the θ that above-mentioned mathematical expression calculates.
As a result, as the Hall sensor angle of deviation of the U phase rising edge for the signal intensity for becoming benchmark and remaining 5 signals
The Hall sensor angle of deviation of variation can calculate.
It can further include being calculated based on compensation the step of being calculated as Hall sensor angle of deviation after (S600)
Hall sensor angle of deviation and calculated real electrical machinery rotor-position come (S700) the step of controlling motor.
Hall sensor deflection is added by the position angle that U phase, V phase and the respective rising edge of W phase and failing edge occur
Angle can calculate the angle for actually occurring the signal intensity of Hall sensor.It can specifically compensate as follows.
Practical U phase Hall sensor failing edge position angle=U phase Hall sensor failing edge ideal position angle+suddenly
That sensor angle of deviation
It is not only U phase failing edge, all Hall sensor signal intensity time points can be compensated by same way.
By correcting the Hall sensor angle of deviation at Hall sensor signal intensity time point, practical electricity can be accurately calculated
Machine rotor position angle.It can be based on proximally calculated real electrical machinery rotor-position controls motor with actual value.
Fig. 5 A and Fig. 5 B are before and after illustrating the motor control method being related to using one embodiment of the invention to electricity
The figure of the waveform for 3 phase currents that machine applies.
With reference to Fig. 5 A and Fig. 5 B, 3 phase currents and compensation before showing compensation Hall sensor angle of deviation are of the invention suddenly
3 phase currents after your sensor angle of deviation.As shown in the figure, it is seen that the ripple current of 3 phase currents significantly reduces.
That is, due to generating the error of position angle, causing current control unstable before compensating Hall sensor angle of deviation
The problem of determining, 3 phase currents caused to vibrate.However, generating the stable effect of current control after compensating Hall sensor angle of deviation
Fruit.
As the control of 3 phase currents stabilizes, the rotation speed precision of motor and the driving torque precision of motor are mentioned
Height, as oscillation is suppressed, noise and vibration reduce, and the consumption power of motor reduces, to have drive efficiency to improve, motor
Durability improve effect.
Especially when controlling the torque of rotation speed, position of motor etc. or control motor, it can be ensured that rotation transformation
The position of the rotor of device level calculates precision, has needing to implement accurate moment of torsion control as driving and be motor
In motor, the moment of torsion control precision of same level can be also ensured using the Hall sensor more relatively inexpensive than rotary transformer
Effect.
It has been shown and described about the particular embodiment of the present invention, but is provided without departing from claimed range
Technical concept of the invention limit in, the present invention is able to carry out various improvement and change, this is for those skilled in the art
For be self-evident.
Claims (14)
1. a kind of motor control method characterized by comprising
The step of ideal position of rotor is calculated based on Hall sensor signal；
The step of current location of rotor is calculated based on the rotation speed of rotor；With
The step that the difference of the current location of the ideal position of rotor and rotor is calculated as Hall sensor angle of deviation
Suddenly.
2. motor control method as described in claim 1, it is characterised in that:
Before the step of calculating the ideal position of rotor, further include the steps that the rotation speed for calculating motor.
3. motor control method as claimed in claim 2, it is characterised in that:
In the step of calculating the rotation speed of motor, the electric rotation speed of motor is calculated using following mathematical expressions,
THall_update=THall-THall_old
ωr: the electric rotation speed [rad/s] of motor, THall_update: the value of Hall sensor changes the required time,
THall: the value of Hall sensor changed time point, THall_old: the value of the Hall sensor changed time before
Point.
4. motor control method as claimed in claim 2, it is characterised in that:
It further include judging whether the variable quantity of motor rotation speed is less than regulation after the step of calculating the rotation speed of motor
The step of benchmark variable quantity,
When the variable quantity of motor rotation speed is less than stipulated standard variable quantity, the ideal position and motor for calculating rotor turn
The current location of son.
5. motor control method as described in claim 1, it is characterised in that:
In the step of calculating the ideal position of rotor, calculated based on the signal of Hall sensor changed time point
The ideal position of rotor.
6. motor control method as claimed in claim 5, it is characterised in that:
In the step of calculating the ideal position of rotor, the ideal position of rotor is calculated using following mathematical expressions,
θHall: the position angle [deg] of current Hall sensor, θEdge: the signal of Hall sensor changed time point
Ideal position angle, ωr: the electric rotation speed [rad/s] of motor, Δ T: from the signal of the Hall sensor changed time
Point elapsed time.
7. motor control method as described in claim 1, it is characterised in that:
In the step of calculating the current location of rotor, with rotor from motor when PWM duty cycle of switching operation before
The angle of the position rotation of rotor calculates.
8. motor control method as claimed in claim 7, it is characterised in that:
In the step of calculating the current location of rotor, the current location of rotor is calculated using following mathematical expressions,
θSpd: the position angle [deg] of rotor, θ when current PWM duty cycle of switching operationOld: PWM duty cycle of switching before
The position angle [deg] of rotor, ω when operationr: the electric rotation speed [rad/s] of motor, TPWM: PWM duty cycle of switching fortune
Calculate the period.
9. motor control method as claimed in claim 2, it is characterised in that:
It further include judging whether motor rotation speed is stipulated standard rotation speed after the step of calculating the rotation speed of motor
Degree or more step,
When motor rotation speed is stipulated standard rotation speed or more, the ideal position and rotor of rotor are calculated
Current location.
10. motor control method as described in claim 1, it is characterised in that:
Calculate rotor ideal position and rotor current location the step of in, with the U phase of Hall sensor, W phase
Or any time point in the signal intensity time point of V phase is benchmark time point, to calculate the ideal position and electricity of rotor
The current location of machine rotor.
11. motor control method as claimed in claim 10, it is characterised in that:
Calculate rotor ideal position and rotor current location the step of in, whenever as reference time point
It is when the signal intensity time point of Hall sensor repeats, the ideal position of rotor is synchronous with the current location of rotor
The ideal position of rotor on the basis of to the signal intensity time point using the Hall sensor as reference time point.
12. motor control method as claimed in claim 10, it is characterised in that:
In the step of being calculated as Hall sensor angle of deviation, calculate except the signal of the Hall sensor as reference time point becomes
Change the Hall sensor angle of deviation at the remaining Hall sensor signal intensity time point other than time point.
13. motor control method as claimed in claim 10, it is characterised in that:
It further include the Hall sensor calculated as reference time point before the step of being calculated as Hall sensor angle of deviation
Signal intensity time point Hall sensor angle of deviation the step of,
In the step of calculating the Hall sensor angle of deviation at the signal intensity time point of the Hall sensor as reference time point,
The electric current applied to motor is blocked to carry out inertia braking, the synchronous coordinate system d shaft voltage and q shaft voltage when based on inertia braking
It is calculated.
14. motor control method as described in claim 1, it is characterised in that:
It further include inclined based on the calculated Hall sensor of compensation institute after the step of being calculated as Hall sensor angle of deviation
Oblique angle and calculated real electrical machinery rotor-position are come the step of controlling motor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020170167426A KR102588927B1 (en) | 2017-12-07 | 2017-12-07 | Motor control method |
| KR10-2017-0167426 | 2017-12-07 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109905058A true CN109905058A (en) | 2019-06-18 |
Family
ID=66629415
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810883856.6A Pending CN109905058A (en) | 2017-12-07 | 2018-08-06 | Motor control method |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US10554158B2 (en) |
| JP (1) | JP7168363B2 (en) |
| KR (1) | KR102588927B1 (en) |
| CN (1) | CN109905058A (en) |
| DE (1) | DE102018213425A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022142232A1 (en) * | 2020-12-30 | 2022-07-07 | 华润微集成电路(无锡)有限公司 | Method for implementing brushless direct current motor hall position sensor fault processing |
| CN114954623A (en) * | 2022-06-30 | 2022-08-30 | 北京汽车研究总院有限公司 | Control method and device for electrically adjusting steering column, storage medium and vehicle |
| WO2024065568A1 (en) * | 2022-09-27 | 2024-04-04 | 江苏科技大学 | Method for filtering deviation signal of hall position sensor for robot joint |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102440689B1 (en) * | 2017-11-28 | 2022-09-05 | 현대자동차주식회사 | Method for computating motor rotor position using hall sensor |
| KR102362137B1 (en) * | 2019-10-30 | 2022-02-11 | 주식회사다스 | SYSTEM and DRIVING DEVICE for BLDC MOTOR |
| CN111245307A (en) * | 2020-03-19 | 2020-06-05 | 深圳市微秒控制技术有限公司 | Hall line sequence self-adaptive learning method of brushless motor |
| EP4287493A1 (en) * | 2022-06-02 | 2023-12-06 | Siemens Aktiengesellschaft | Method for correcting mispositioning of a hall sensor in a brushless dc machine |
| DE102022214301A1 (en) | 2022-12-22 | 2024-06-27 | Vitesco Technologies Germany Gmbh | Method for field-oriented current control of motor currents of an electric motor |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002311040A (en) * | 2001-04-16 | 2002-10-23 | Yaskawa Electric Corp | Speed detector |
| US20040061461A1 (en) * | 2002-10-01 | 2004-04-01 | Honda Giken Kogyo Kabushiki Kaisha | Apparatus for controlling permanent-magnet rotary machine |
| CN101188393A (en) * | 2007-12-12 | 2008-05-28 | 北京航空航天大学 | Low-speed highly precise control system for magnetic suspending flying wheel electromotor based on n Hall sensors |
| US8677995B2 (en) * | 2003-08-04 | 2014-03-25 | Carefusion 203, Inc. | Compressor control system for a portable ventilator |
| CN104079218A (en) * | 2014-06-17 | 2014-10-01 | 南京航空航天大学 | Motor rotor position and angle obtaining method |
| US20160094165A1 (en) * | 2014-09-25 | 2016-03-31 | Hyundai Motor Company | System and method for computing motor speed and rotor position using hall sensor |
| JP2016136820A (en) * | 2015-01-23 | 2016-07-28 | アスモ株式会社 | Motor drive device |
| KR20160101230A (en) * | 2015-02-13 | 2016-08-25 | 주식회사 만도 | Apparatus for correcting position of linear hole sensor and control method of thereof |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5362222A (en) * | 1993-08-31 | 1994-11-08 | Cincinnati Milacron Inc. | Injection molding machine having a vector controlled AC drive system |
| US7002318B1 (en) * | 2004-09-23 | 2006-02-21 | General Motors Corporation | Position sensor fault tolerant control for automotive propulsion system |
| JP2007110779A (en) * | 2005-10-11 | 2007-04-26 | Matsushita Electric Ind Co Ltd | Motor drive and driving method |
| KR100905937B1 (en) | 2007-05-03 | 2009-07-06 | 국방과학연구소 | Brushless dc motor using linear hall-effect sensor and realization method of speed signal thereof |
| US8278853B2 (en) * | 2009-04-16 | 2012-10-02 | Asmo Co., Ltd. | Brushless motor control apparatus, brushless motor and control method of brushless motor |
| KR101508815B1 (en) | 2012-08-31 | 2015-04-07 | 한라비스테온공조 주식회사 | Method for detecting a rotor position in Permanent Magnet Synchronous Motor |
| KR102166814B1 (en) * | 2013-11-18 | 2020-10-16 | 현대모비스 주식회사 | Apparatus for compensating errors of position sensor for mortor, Method thereof |
| KR101694047B1 (en) * | 2015-08-12 | 2017-01-09 | 현대자동차주식회사 | Control method of motor |
| JP6563809B2 (en) * | 2015-12-28 | 2019-08-21 | 株式会社ミツバ | Motor control device and control method of motor control device |
| JP2017135950A (en) * | 2016-01-29 | 2017-08-03 | 株式会社マキタ | Electric work machine |
| KR101749522B1 (en) | 2016-04-29 | 2017-06-22 | 주식회사 와이즈웍스 | A device of Hall sensors installation position error correction for BLDC motors having linear Hall sensors and a method thereof |
-
2017
- 2017-12-07 KR KR1020170167426A patent/KR102588927B1/en active IP Right Grant
-
2018
- 2018-07-12 JP JP2018132601A patent/JP7168363B2/en active Active
- 2018-07-13 US US16/034,993 patent/US10554158B2/en active Active
- 2018-08-06 CN CN201810883856.6A patent/CN109905058A/en active Pending
- 2018-08-09 DE DE102018213425.1A patent/DE102018213425A1/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002311040A (en) * | 2001-04-16 | 2002-10-23 | Yaskawa Electric Corp | Speed detector |
| US20040061461A1 (en) * | 2002-10-01 | 2004-04-01 | Honda Giken Kogyo Kabushiki Kaisha | Apparatus for controlling permanent-magnet rotary machine |
| US8677995B2 (en) * | 2003-08-04 | 2014-03-25 | Carefusion 203, Inc. | Compressor control system for a portable ventilator |
| CN101188393A (en) * | 2007-12-12 | 2008-05-28 | 北京航空航天大学 | Low-speed highly precise control system for magnetic suspending flying wheel electromotor based on n Hall sensors |
| CN104079218A (en) * | 2014-06-17 | 2014-10-01 | 南京航空航天大学 | Motor rotor position and angle obtaining method |
| US20160094165A1 (en) * | 2014-09-25 | 2016-03-31 | Hyundai Motor Company | System and method for computing motor speed and rotor position using hall sensor |
| CN105811846A (en) * | 2014-09-25 | 2016-07-27 | 现代自动车株式会社 | System and method for calculating motor speed and rotor position by using Hall sensor |
| JP2016136820A (en) * | 2015-01-23 | 2016-07-28 | アスモ株式会社 | Motor drive device |
| KR20160101230A (en) * | 2015-02-13 | 2016-08-25 | 주식회사 만도 | Apparatus for correcting position of linear hole sensor and control method of thereof |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022142232A1 (en) * | 2020-12-30 | 2022-07-07 | 华润微集成电路(无锡)有限公司 | Method for implementing brushless direct current motor hall position sensor fault processing |
| CN114954623A (en) * | 2022-06-30 | 2022-08-30 | 北京汽车研究总院有限公司 | Control method and device for electrically adjusting steering column, storage medium and vehicle |
| WO2024065568A1 (en) * | 2022-09-27 | 2024-04-04 | 江苏科技大学 | Method for filtering deviation signal of hall position sensor for robot joint |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20190067468A (en) | 2019-06-17 |
| US10554158B2 (en) | 2020-02-04 |
| JP2019103382A (en) | 2019-06-24 |
| JP7168363B2 (en) | 2022-11-09 |
| KR102588927B1 (en) | 2023-10-16 |
| DE102018213425A1 (en) | 2019-06-13 |
| US20190181780A1 (en) | 2019-06-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109905058A (en) | Motor control method | |
| US20130113400A1 (en) | Phase-shift detection device, motor drive device, brushless motor, and phase-shift detection method | |
| KR20140001826A (en) | Method and circuit arrangement for checking the rotor position of a synchronous machine | |
| KR100713776B1 (en) | Detection method of excitation position of SRM by comparison of detected current and apparatus thereof | |
| CN105099300A (en) | Controller, special-purpose integrated circuit, stepper motor, actuator and application thereof | |
| US20180180095A1 (en) | A control device and a method for controlling magnetic levitation and torque generation | |
| KR101090510B1 (en) | Control and Error correction method of angular position estimation for Permanent Magnet Synchronous Motors | |
| EP2704307A1 (en) | Brushless motor control device and brushless motor control method | |
| CN106559014B (en) | A kind of control method for brushless direct current motor based on rotary transformer | |
| KR20160045250A (en) | Offset compensation method of hall sensor in motor | |
| KR101293082B1 (en) | Compensation method for position of hall sensor of bldc motor and bldc motor thereof | |
| US8766579B2 (en) | Method and device for monitoring and correcting a sensorless rotor position detection in permanently excited motors | |
| US9270215B2 (en) | Method and device for compensating for load factors in permanently excited motors | |
| US8664902B2 (en) | Polyphase AC motor, driving device and driving method therefor | |
| JP6186824B2 (en) | Brushless motor control device, brushless motor electrical angle estimation method, and storage medium | |
| CN105553364A (en) | Motor vector control method based on estimation of interval angle of hall signal | |
| CN109104894B (en) | Control of permanent magnet motors and generators | |
| CN109039198A (en) | The bearing calibration of magneto hall position and device | |
| JP5418769B2 (en) | Method for estimating electric angle of brushless motor and brushless motor | |
| JP5422435B2 (en) | Brushless motor driving apparatus and driving method | |
| JP2012186911A (en) | Motor control device | |
| JP4654702B2 (en) | Brushless DC motor control device and transport device equipped with the same | |
| Kolano | Calculation of the brushless dc motor shaft speed with allowances for incorrect alignment of sensors | |
| KR20210145470A (en) | Correcting device for resolver offset of inverter and correction method thereof | |
| US8723470B2 (en) | System and method for determining position of hall sensors relative to stator winding of brushless DC or synchronous AC permanent magnet motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |